RU126122U1 - Sonar meter - Google Patents

Abstract

An echo sounder containing an echo sounder including a radiating antenna whose directivity (XI) is oriented towards the sea surface, connected to a pulsed power amplifier, the input of which is connected to a synchronization device, also containing a hydrostatic pressure transducer connected to the first input of the ice precipitation calculation device d, also containing a programmable unit for storing the values of the regression coefficients a and b, a device for calculating the ice thickness H m of precipitation d, using the linear regression equation of the form H (cm) = ad (cm) + b (cm), a device for calculating the height of floating ice relative to the surface of the water, as the difference e = (Hd) for each pair of precipitation and ice thickness obtained in successive sensing cycles, and a device for displaying and recording precipitation, thickness, height of floating ice, while the output of the device for calculating ice precipitation is connected to the second input of the device for calculating the thickness of ice and the second input of the device for calculating the height of floating ice, characterized in that t is made multi-beam, also containing a series-connected multi-channel receiving antenna, a multi-channel amplifying device forming a multi-beam CV, multi-channel ADC, a device for measuring the delay time Δt, an echo signal from the rays and calculating ranges r and a device for calculating the rectangular coordinates x, z of the bottom surface of the ice, the output of which is connected with the second input of the device for calculating ice precipitation d and the second input of the device for calculating the ice thickness H, while the second input of the multi-channel ADC is connected

Description

The utility model relates to the field of hydroacoustics, namely to equipment for remote detection of floating ice and determination of its morphometric characteristics from under water.

The main morphometric characteristics of floating ice include: sediment, ice thickness and height, as well as the relief profile of the lower and upper surfaces of the ice cover [1].

Known acousto-hydrostatic echo sounder [2], containing a hydroacoustic echo sounder, including a transceiver antenna, the directivity of which is oriented toward the sea surface, connected via a receive / transmit switch with a pulsed power amplifier and a synchronization device and an echo signal preprocessor to the output of which a measurement device is connected distance, also containing a hydrostatic pressure transducer connected to the first input of the device is calculated ice precipitation d _i whose second input is connected to the output of the distance measuring device. In this echo-meter, the value of ice precipitation is defined as the difference between the immersion depth h _{Ai of a} certain base point of the object, which is measured by a hydrostatic pressure transducer (hydrostat), and the distance from the same point to the bottom surface of the ice r _Ai , measured by an upward echo sounder.

The echo-meter [2] makes it possible to calculate the ice sediment d, at a point located above its acoustic antenna. The values of ice precipitation obtained by this echo-meter are often used as actual values of the thickness of floating ice I. However, practice shows that such an approximation at

estimation of ice thickness can cause errors of up to 20% or more of the measured ice thickness. Errors in estimating the thickness of ice arise due to the fact that the said echo-meter does not take into account the height of the ice above the surface of the water, which depends on the density of floating ice and the height of the snow cover on it, which have pronounced seasonal changes.

Known acousto-hydrostatic echo-meter [3], which allows to determine the morphometric characteristics of ice. This echo sounder contains an echo sounder, including a receiving-radiating antenna whose directivity (XI) is oriented toward the sea surface, connected via a receive / transmit switch with a pulse power amplifier, a synchronization device and an echo signal preprocessing device, to the output of which a distance measuring device is also connected, also containing a hydrostatic pressure transducer connected to the first input of the device for calculating ice precipitation d _i ; the second input of which is connected to the output of the distance measuring device. In this echo-meter, the value of ice precipitation is defined as the difference between the immersion depth h _{Ai of a} certain base point of the object, which is measured by a hydrostatic pressure transducer (hydrostat), and the distance from the same point to the bottom ice surface r _Ai , measured by the upward-receiving antenna of the echo sounder.

The center of the active surface of the echo-sounder transceiver antenna is usually taken as the base point of the object. Such an echo-meter makes it possible to calculate ice sediment d _i , its thickness H _i ; and height e _i , at a point located above its acoustic antenna.

Ice precipitation is calculated in accordance with the expression d _i = h _Ai -r _Ai where h _Ai is the immersion depth of the active surface of the i-th sonar acoustic antenna calculated using a hydrostat; r _Ai is the shortest distance between the acoustic antenna and the water / ice interface at the sounding point.

The immersion depth of the acoustic antennas h _Ai can be calculated by the formula h _Ai = (p-Patm) k ₁ k ₂ -z _i (x _i , y _i , z _i , θ, Ψ), where p is the absolute hydrostatic pressure measured a pressure sensor (transducer) installed at the facility; patm ~ atmospheric pressure above the ice surface at the point of the object; k ₁ , k ₂ - correction for the average vertical density of sea water density ρ and gravitational correction, respectively; 2 / -applicate of the corresponding antenna relative to the level at which hydrostatic pressure is measured; i = 1, 2, 3. ... - the serial number of the antenna.

The calculation of r _{Ai is} carried out according to the formula

, где

- вычисление по результатам измерения эхолотом времени запаздывания t_i эхосигнала относительно зондирующего сигнала дистанция до границы раздела вода/лед от i-ой антенны; с - значение средней по трассе распространения скорости звука; θ, Ψ - соответственно значения углов крена и дифферента объекта в момент зондирования; i=1, 2… n - номер антенны.

where

- calculation by the echo sounder of the measurement of the delay time t _{i of the} echo signal relative to the probing signal, the distance to the water / ice interface from the i-th antenna; c is the value of the sound velocity average along the propagation path; θ, Ψ - respectively, the values of the angles of heel and trim of the object at the time of sounding; i = 1, 2 ... n is the antenna number.

The ice precipitation values obtained by such an echo-meter are used to calculate the thicknesses of floating ice I; and its height e; according to the expressions H _i (cm) = ad _i ; (cm) + b (cm) and e _i = (H _i -d _i ), where a and b are empirical regression coefficients that take into account seasonal changes in the density of floating ice and snow depth on it, for each of the three main seasons of the annual cycle [4].

By the number of common features, the echo-meter [3] is the closest analogue of the proposed utility model.

As follows from the description of its functioning, the disadvantage of the prototype echo-meter is the lack of devices and operations that make it possible to determine the draft, thickness and height of floating ice in the field of view (over a certain area of the ice surface) above the underwater object in one radiation-reception cycle. According to the results of one “radiation - reception” cycle, it is possible to obtain data on the draft, thickness and height of ice only at one point on its surface, located above the sounder antenna.

The objective of the utility model is to increase the performance of the echo-meter in determining the morphometric characteristics of the floating ice sheet and expanding its functionality

The technical result of the claimed echo-meter is to provide the possibility of measuring in one cycle "radiation - reception" of the morphometric characteristics of the ice cover in a wide field of view above the underwater object.

To ensure the claimed technical result, a known echo sounder containing an echo sounder including a radiating antenna, the directivity characteristic (XI) of which is oriented towards the sea surface, connected to a pulsed power amplifier, whose input is connected to a synchronization device, also containing a hydrostatic pressure transducer connected to the first input of the device calculating ice precipitation d _i, also comprising serially connected programmable coefficient value storage unit s and a regression b, computing device of ice thickness H _i, its precipitation by values d _i; using the linear regression equation of the form H _i (cm) = ad _i (cm) + b (cm), a device for calculating the height of floating ice relative to the surface of the water, as the difference e _i = (H _i -d _i ) for each pair of precipitation values and the thickness of the ice obtained in successive sounding cycles, and the device for displaying and recording precipitation, thickness, height of floating ice, while the output of the device for calculating ice precipitation is connected to the second input of the device for calculating the thickness of ice and the second input of the device for calculating the height of floating ice, new features are introduced, namely :

a multi-beam echo sounder (MEL) was used as an echo sounder, as well as a multi-channel amplifying device that generates a multi-beam directivity, a multi-channel ADC, a device for measuring the delay time Δt _{i of the} echo signal from the rays and calculating ranges r _{i, a} device for calculating rectangular coordinates x _i , z _i , lower points the surface of the ice, the output of which is connected to the second input of the device for calculating ice precipitation di and the second input of the device for calculating the ice thickness H,., while the second input of the multi-channel ADC is connected about the second output of the pulsed power amplifier and the third output of the pulsed power amplifier is connected to the second input of the device for displaying and recording precipitation, thickness, height of floating ice and water / ice and ice / air interface profiles, as well as to the second input of the programmed unit for storing the values of regression coefficients α and b.

The radiating acoustic antenna of a multi-beam echo sounder (MEL) has a narrow horizontal and wide vertical plane directional characteristic (CI), and irradiates with pulsed probing signals a narrow horizontal and wide vertical plane strip of the lower ice surface, and a multi-channel receiving acoustic antenna with a static fan of 2i + 1 narrow partial CNs (rays) whose acoustic axes are symmetrically located at angles θ, (i = 0, 1, 2, ... n) relative to the axis of the central vertical partial CN (ray r _0, θ ₀ = 90 °), receives reflected and scattered by surface ice irradiated strip echoes (see FIG. 1). From the measured delay times Δt _i between the moments of radiation of the probe signal and the arrival of the scattered (reflected) echo signal from the irradiated surface points, the distances r _i are calculated for each beam XN to the points of intersection of the beam with the lower ice surface

The introduction of new features makes it possible to technically realize the fundamental possibility in one cycle "radiation - reception" to measure the morphometric characteristics of the ice cover in a wide field of view above the underwater object.

The essence of the utility model is illustrated in figure 1 and figure 2.

Figure 1 is a diagram explaining the principle of operation of the echo-meter, where in projection on the vertical and horizontal planes are shown:

A ₁ , A ₂ - respectively emitting and multi-channel receiving acoustic antennas MEL;

ХН - directivity characteristic (partial);

ДΘ _0.7 - the width of the partial CN of the receiving acoustic antenna at a level of 0.7 in the horizontal plane;

0 - beginning of a rectangular coordinate system x, 0, z; associated with the receiving and radiating antennas;

r ₀ , r _i , r _n - the distance from the origin (0) to the points (0, M, N) of the intersection of the corresponding rays of the static fan XN with the lower surface of the ice;

r _(-i), r _(-n) - the distance from the origin (0) to the intersection points of the corresponding rays of the static fan XN with the lower surface of the ice in the region of negative values of the x coordinate;

z _i - the height of the ice surface point relative to the horizontal plane in which the active surfaces of the antennas A, A ₂ lie;

h ₀ - immersion depth of the active surfaces of the acoustic antennas MEL relative to the surface of the water;

θi is the slip angle;

L _n , L _(-n) - ice viewing lines to the right and left of the carrier’s diametrical plane, corresponding to the positive and negative directions of the x axis;

d _i - ice precipitation;

H _i is the thickness of the ice;

e _i - the height of the ice.

Figure 2 presents the structural diagram of the proposed echo-meter. The echo-meter contains: a radiating acoustic antenna, A ₁ located on the body of an underwater object. AN antenna A _{1 is} oriented vertically to the sea surface. The antenna leads are connected to the output of a pulse power amplifier 1, the input of which is connected to the MEL synchronization device 12. The outputs of the multi-channel receiving acoustic antenna A _{2 are} connected to the input of the multi-channel amplifying device 2, forming a multi-beam CV, the output of which is connected to the first input of the multi-channel 3 ADC, the second input of which is connected to the second output of the pulse power amplifier 1, and the output of the multi-channel 3 ADC is connected to the input device 4 measuring the delay time Δt _{i of the} echo signal by the rays and calculating the ranges of r _i . The output of the device 4 is connected to the input of the device 5 for calculating the rectangular coordinates x _i z _{i of the} points of the lower surface of the ice, the output of which is connected to the second input of the device 7 for calculating the ice precipitation d _i and the second input of the device 8 for calculating the ice thickness H _i whose first inputs are connected to the output of the converter 6 hydrostatic pressure. The output of the device 8 is connected to the first input of the device 9 for calculating the height e _i , floating ice, the output of which is connected to the input of the device 11 for displaying and recording precipitation, thickness, height of the floating ice and water / ice and ice / air interface profiles, the third output of the device 1 connected to the second input of the device 11 and to the second input of the programmable block 10 storing the values of the regression coefficients (a, b), the output of which is connected to the third input of the device 8.

Antennas A ₁ and A ₂ as well as devices and units 1 - 5 and 12 of the proposed echo-meter are technically typical functional units of serial multipath echo sounders with phased antenna arrays [2]. Device 6 is an electronic-hydraulic device containing an absolute hydrostatic pressure transducer and an electronic circuit for processing the output data of the transducer, the design and operation algorithm of which are typical for serial acousto-hydrostatic echo-meters [5]. Devices 7-11 are electronic devices whose operation algorithms are implemented using digital programmable tools. So, the device 10 stores and outputs to the device 8 during the current season of the annual cycle the values of the regression coefficients a and b programmed in its memory, corresponding to the periods of this cycle (months and numbers), and changes the values of these regression coefficients in pairs when the season of the annual cycle changes to the next one. Device 7 is programmed to perform ice precipitation calculations using the formula d _i = h _o -z _i , and devices 8 and 9 are programmed to perform ice sheet calculations using the expressions H _i (cm) = ad _i (cm) + b (cm) and e _i = (H _i -d _i ), respectively.

The determination of the parameters of the ice cover using the proposed echo-meter (figure 1) is as follows.

At some point in time, the synchronization device 12 generates a short clock pulse, which sets the start of the radiation-receive cycle. Under the influence of the clock pulse, the pulse power amplifier 1 generates a radio pulse of a given type, duration and amplitude, which is fed to the input of the emitting acoustic antenna A ₁ MEL. The emitting antenna A ₁ MEL, placed on a movable underwater carrier, emits a powerful acoustic pulsed sounding radio signal to the side of the water surface. Since the longitudinal axis of symmetry of the MEL emitting antenna is located in a plane parallel to or coinciding with the diametrical plane of the carrier, the lower surface of the ice is irradiated with acoustic energy in the directions perpendicular to the carrier line. Due to the MEL emitting antenna narrow in the horizontal and wide in the vertical planes of the XI, on the lower surface of the ice a strip of the lower surface of the ice is narrow in the diametrical plane and wide in the plane of the carrier frame.

After radiation of the probing radio signal, the MEL switches to the reception mode of the echo signals scattered (reflected) by the lower surface of the ice sheet. Echo signals are received by a multi-channel A ₂ receiving acoustic antenna (a flat rectangular phased antenna array) having a static fan of 2i + 1 narrow partial CNs (rays) whose acoustic axes are symmetrically located at angles θi (i = 0, 1, 2, ... n) relative to the axis of the central vertical partial CN (ray r ₀ , θ ₀ = 90 °). The plane of the XN static fan is in the plane parallel to or coinciding with the plane of the frame of the MEL carrier. Echo signals from the closest points on the ice surface (0, ... M) come first to the antenna, then from more and more distant points of the irradiated strip of the lower ice surface, and finally, from point N.

A multi-channel amplifier 2 device generates 2i + 1 (i + 0, 1, 2, ... n) receiving spatial channels that receive and convert echo signals from irradiated points on the lower surface of the ice, arriving for each partial beam of a multipath CN. In multi-channel ADC - 3, the conversion of analog output processes in the MEL spatial channels to digital form occurs. In device 4, the delay times Δ _{ti of the} echo signals are measured with respect to the moment of radiation of the probing radio signal and the ranges r _i are calculated to the points of intersection of the beam with the lower surface of the ice using the formula ri = (cΔt _i ) / 2 where c is the speed of sound in water.

Next, using expressions

где θ_i - угол скольжения соответствующего луча относительно горизонтальной плоскости, в устройстве 5 вычисляются прямоугольные координаты - высота z, и горизонтальная дальность х,

where θ _i is the sliding angle of the corresponding beam relative to the horizontal plane, rectangular coordinates are calculated in the device 5 — the height z, and the horizontal distance x,

corresponding points of the lower ice surface in the rectangular coordinate system x, 0, z associated with the receiving acoustic antenna MEL.

In this case, the origin 0 is located in the middle of the receiving surface of the antenna, the z axis is perpendicular to this surface, and the x axis lies in the vertical plane and coincides with the longitudinal axis of symmetry of the antenna. Then, using the values of height 2, the values of ice precipitation d _i at each i-th point of scattering (reflection) from the bottom surface of the ice located at the corresponding horizontal distance x _i are calculated in the device 7 using the formula d _i = h ₀ - z ;, where h _{0 is the} depth of the active surfaces of MEL acoustic antennas relative to the water surface, which is calculated by the formula h ₀ = {p-Patm} k ₁ k ₂ , where p is the absolute hydrostatic pressure at the immersion depth of the active surfaces of the acoustic antennas, measured by hydrostat 6; Patm — atmospheric pressure above the ice surface at the point of MEL location, k ₁ , correction for the average vertical density of sea water ρ and k _{2 —} gravity correction, respectively. Then, in the device 8, the thickness of ice I is calculated; using the linear regression equation of the form H _i (cm) = ad, (cm) + b (cm), where a and b are the empirical regression coefficients programmed in device 10 and taking into account seasonal changes in the density of floating ice and the height of the snow cover on it, for each of the three main seasons of the annual cycle [4]. In device 9, for each nth point, the height of the floating ice e _i relative to the surface of the water is calculated as the difference between the values of its thickness and precipitation at the surface points using the formula e _i = (H _i -d _i ).

After receiving an array of data on the precipitation, thickness and height of the ice cover over all 2i + 1 spatial channels in one sensing cycle (“radiation - reception”), the data are recorded and displayed in the corresponding form on the display device 11. Using the values of e _i + (H _i -d _i ), H _i (cm) = ad _i (cv) + b (cm) and x _i , graphical dependencies e _i = ƒ (x) are constructed that characterize the top and bottom relief profiles ice cover surfaces examined in the current sensing cycle in the viewing lines L _n and L _(-n) corresponding to the positive and negative directions of the x axis within the range of angles θ _n covered by the static fan XN of the MEL receiving acoustic antenna.

The empirical regression coefficients can be determined for the summer season (June 16 - September) α = 0.83, b = 39.2, for the autumn season (October - November) α = 1.084, b = 0.6 and the winter season (December - June 15) a = 1.070, b = 4.6, [4].

After receiving the echo from the farthest point of the irradiated strip of the lower ice surface (point N), the reception mode ends and the system goes into standby mode for the appearance of the next clock pulse generated in the device 12.

To obtain a profile of the ice surface beyond the angle covered by the XI of the MEL antennas in the horizontal plane, the underwater object can be moved, after which the MEL emits another acoustic pulsed sounding radio signal to the side of the water surface. As the carrier moves along the path line, new adjacent bands of the lower ice surface are irradiated, the echo signals from which are received by the A ₂ MEL antenna.

As a result, using the proposed device, it is possible to determine the morphometric characteristics of the floating ice cover (draft, thickness, height, top and bottom relief profiles) not only in a wide field of view above the carrier, characterized by the values of L _n and L _(-n) but also by area surface.

Information sources

1. Borodachev V.E., Gavrilo V.P., Kazan M.M. Glossary of marine ice terms. St. Petersburg: Gidrometeoizdat, 1994 .-- 138 p.

2. Bogorodsky A.V., Ostrovsky D.B. Hydroacoustic navigation and search and research facilities. S-Pb.: Publishing House of St. Petersburg GETU "LETI", 2009.242 p.

3. Pat. RF №120766 / Bogorodsky A.V., Lebedev G.A., Echo-meter; Publ. 09/27/2012

4. Mironov E.U., Senko EP On the relationship of thickness and precipitation of ice // Transactions of AANII.-1995. T.435.- S.47-54

5. The instruction manual for the product MG-518M. STREET. 365 183. 001 RE. Republic of Moldova, Balti, JSC “Research Institute“ Rif-Aquaapparat ”, 2011

Claims (1)

An echo sounder containing an echo sounder including a radiating antenna whose directivity (XI) is oriented toward the sea surface, connected to a pulsed power amplifier, the input of which is connected to a synchronization device, also containing a hydrostatic pressure transducer connected to the first input of an ice precipitation calculation device d _i , also containing a series-connected programmable unit for storing the values of the regression coefficients a and b, a device for calculating the ice thickness H _i the precipitation d _i , using the linear regression equation of the form H _i (cm) = ad _i (cm) + b (cm), a device for calculating the height of floating ice relative to the surface of the water, as the difference e _i = (H _i -d _i ) for each pair of precipitation and ice thickness values obtained in successive sensing cycles, and a device for displaying and recording precipitation, thickness, height of floating ice, while the output of the ice precipitation calculating device is connected to the second input of the ice thickness calculating device and the second input of the floating height calculating device ice different in that the echo sounder is multi-beam, also containing a multi-channel receiving antenna, a multi-channel amplifying device forming a multi-beam CN, multi-channel ADC, a device for measuring the delay time Δt, an echo signal from the rays and calculating ranges r _i and a device for calculating rectangular coordinates x _i , z _i points of the lower surface of the ice, the output of which is connected to the second input of the device for calculating ice precipitation d _i and the second input of the device for calculating ice thickness H _i , while the second input is many the channel ADC is connected to the second output of the pulse power amplifier, and the third output of the pulse power amplifier is connected to the second input of the device for displaying and recording precipitation, thickness, height of floating ice and water / ice and ice / air interface profiles, as well as to the second input of the programmable unit storing the values of the regression coefficients a and b.

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